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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

ControlleurPince/ControlleurPince.h@58:02dc8328975a, 2016-05-04 (annotated)

Committer:
Jagang
Date:
Wed May 04 19:55:03 2016 +0000
Revision:
58:02dc8328975a
Child:
71:5590dbe8393a
Adding ControlleurPince

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 58:02dc8328975a 1 #ifndef CONTROLLEUR_PINCE_H
Jagang 58:02dc8328975a 2 #define CONTROLLEUR_PINCE_H
Jagang 58:02dc8328975a 3
Jagang 58:02dc8328975a 4 #include "Stepper.h"
Jagang 58:02dc8328975a 5 #include "mbed.h"
Jagang 58:02dc8328975a 6
Jagang 58:02dc8328975a 7 class ControlleurPince
Jagang 58:02dc8328975a 8 {
Jagang 58:02dc8328975a 9
Jagang 58:02dc8328975a 10 public:
Jagang 58:02dc8328975a 11
Jagang 58:02dc8328975a 12 ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL);
Jagang 58:02dc8328975a 13
Jagang 58:02dc8328975a 14 void home(bool r=true, bool z=true, bool l=true);
Jagang 58:02dc8328975a 15 void setPos(float z, float delta, float center);
Jagang 58:02dc8328975a 16
Jagang 58:02dc8328975a 17 private:
Jagang 58:02dc8328975a 18
Jagang 58:02dc8328975a 19 Stepper &RMot, &ZMot, &LMot;
Jagang 58:02dc8328975a 20
Jagang 58:02dc8328975a 21 DigitalIn &EnR, &EnZ, &EnL;
Jagang 58:02dc8328975a 22
Jagang 58:02dc8328975a 23 float pos_r,pos_z,pos_l;
Jagang 58:02dc8328975a 24 };
Jagang 58:02dc8328975a 25
Jagang 58:02dc8328975a 26 #endif